Abstract
The combination of tri-axial magnetometer, accelerometer, and gyroscope has been widely used for three-dimensional attitude measurement, and this combination is also called MARG sensor. However, the measurement of accelerometer contains both the gravitational and motional acceleration, and only the former is useful for attitude estimation. As a result, MARG-based attitude estimation is easily disturbed by motion acceleration. In this paper, we introduce a complementary filter that estimates gravity and geomagnetic vectors in parallel, and utilize an optical flow sensor to detect and compensate motion acceleration. Experiment results show that the proposed algorithm has better performance than the existing ones when experiencing linear acceleration.
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